Sensor assembly with lidar for autonomous vehicles

ABSTRACT

A sensor assembly for autonomous vehicles includes a side mirror assembly configured to mount to a vehicle. The side mirror assembly includes a first camera having a field of view in a direction opposite a direction of forward travel of the vehicle; a second camera having a field of view in the direction of forward travel of the vehicle; and a third camera having a field of view in a direction substantially perpendicular to the direction of forward travel of the vehicle. The first camera, the second camera, and the third camera are oriented to provide, in combination with a fourth camera configured to be mounted on a roof of the vehicle, an uninterrupted camera field of view from the direction of forward travel of the vehicle to a direction opposite the direction of forward travel of the vehicle.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Patent ApplicationNo. 62/812,779, filed Mar. 1, 2019, which is hereby incorporated hereinby reference in its entirety.

TECHNICAL FIELD

The present disclosure relates to autonomous vehicles, and morespecifically to sensor assemblies for autonomous vehicles.

BACKGROUND

The trucking industry transports a significant portion of raw materialsand finished goods through roadways around the world. In America, thetrucking industry is responsible for the majority of freight movementover land. Developments in technology, such as those associated withautonomous driving, have contributed to many improvements within theindustry to increase productivity and safety of such operations.

SUMMARY

A sensor assembly for autonomous vehicles includes a side mirrorassembly configured to mount to a vehicle. The side mirror assemblyincludes a first camera having a field of view in a direction opposite adirection of forward travel of the vehicle; a second camera having afield of view in the direction of forward travel of the vehicle; and athird camera having a field of view in a direction substantiallyperpendicular to the direction of forward travel of the vehicle. Thefirst camera, the second camera, and the third camera are oriented toprovide, in combination with a fourth camera configured to be mounted ona roof of the vehicle, an uninterrupted camera field of view from thedirection of forward travel of the vehicle to a direction opposite thedirection of forward travel of the vehicle.

According to one aspect, the uninterrupted camera field of view spans atleast 180°. According to one aspect, the second camera and the thirdcamera are configured to be mounted on a roof of the vehicle. Accordingto one aspect, the sensor assembly further includes the fourth cameraconfigured to be mounted on the roof of the vehicle, the fourth camerabeing oriented to have a field of view in the direction of forwardtravel of the vehicle.

According to one aspect, the fourth camera and the second camera areoriented such that the field of view of the fourth camera overlaps thefield of view of the second camera. According to one aspect, the fourthcamera and the third camera are oriented such that the field of view ofthe fourth camera overlaps the field of view of the third camera.According to one aspect, the first and second cameras are narrow fieldof view cameras, and the third and fourth cameras are wide field of viewcameras.

According to one aspect, the side mirror assembly further comprises atleast one of a radar sensor and a lidar sensor. According to one aspect,the side mirror assembly further comprises a radar sensor, a lidarsensor, and an inertial measurement unit (IMU).

According to one aspect, the sensor assembly for autonomous vehiclesfurther includes an arm assembly configured to project the side mirrorassembly outward from the autonomous vehicle, wherein the autonomousvehicle is a truck, and wherein the arm assembly comprises mountings forattachment to an A-pillar of the truck. According to one aspect, theautonomous vehicle is a tractor trailer, and the camera field of view isuninterrupted horizontally outside 1 meter laterally from a point at acenter of a tractor of the tractor trailer. According to one aspect, thecamera field of view is co-terminus with a side of a trailer of thetractor trailer.

A sensor assembly for autonomous vehicles includes a side mirrorassembly configured to mount to a vehicle. The side mirror assemblyincludes a first camera having a field of view in a direction opposite adirection of forward travel of the vehicle; a second camera having afield of view in the direction of forward travel of the vehicle; and athird camera having a field of view in a direction substantiallyperpendicular to the direction of forward travel of the vehicle. Thefirst camera, the second camera, and the third camera are oriented toprovide an uninterrupted camera field of view from the direction offorward travel of the vehicle to a direction opposite the direction offorward travel of the vehicle.

According to one aspect, the uninterrupted camera field of view spans atleast 180°. According to one aspect, the first and second cameras arenarrow field of view cameras, and the third camera is a wide field ofview camera. According to one aspect, the third camera and the secondcamera are oriented such that the field of view of the third cameraoverlaps the field of view of the second camera by at least 5 degrees.According to one aspect, the third camera and the second camera areoriented such that the field of view of the third camera overlaps thefield of view of the second camera by about 10 degrees.

According to one aspect, the first camera, the second camera, and thethird camera are each disposed on an upper portion of the side mirrorassembly. According to one aspect, the first camera, the second camera,and the third camera are each disposed within a volume of 8 in³ on anupper portion of the side mirror assembly.

According to one aspect, the sensor assembly further includes a fourthcamera configured to be mounted on a roof of the vehicle, the fourthcamera oriented to have a field of view in the direction of forwardtravel of the vehicle. According to one aspect, the fourth camera is awide field of view camera. According to one aspect, the fourth cameraand the first camera are oriented such that the field of view of thefourth camera overlaps the field of view of the first camera. Accordingto one aspect, the fourth camera and the third camera are oriented suchthat the field of view of the fourth camera overlaps the field of viewof the third camera.

According to one aspect, the side mirror assembly further comprises atleast one of a radar sensor and a lidar sensor. According to one aspect,the side mirror assembly further comprises a radar sensor, a lidarsensor, and an inertial measurement unit (IMU).

According to one aspect, sensor assembly for autonomous vehicles furtherincludes an arm assembly configured to project the sensor assemblyoutward from the autonomous vehicle, wherein the autonomous vehicle is atruck, and wherein the arm assembly comprises mountings for attachmentto an A-pillar of the truck. According to one aspect, the autonomousvehicle is a tractor trailer, and wherein the camera field of view isuninterrupted horizontally outside 1 meter laterally from a point at acenter of a tractor of the tractor trailer. According to one aspect, thecamera field of view is co-terminus with a side of a trailer of thetractor trailer. According to one aspect, the first camera is mountedwith a tolerance such that the field of view of the first camera isco-terminus with a side of the autonomous vehicle when the first camerais maximally rotated away from the side of the autonomous vehicle.

A method for providing an uninterrupted camera field of view from adirection of forward travel of a vehicle to a direction opposite thedirection of forward travel of the vehicle includes obtaining a field ofview in the direction opposite the direction of forward travel of thevehicle; obtaining a field of view in the direction of forward travel ofthe vehicle; and obtaining a field of view in a direction substantiallyperpendicular to the direction of forward travel of the vehicle. Themethod further includes processing the obtained fields of view toproduce an uninterrupted camera field of view from the direction offorward travel of the vehicle to the direction opposite the direction offorward travel of the vehicle. The method may further includecontinuously obtaining the fields of view and processing the obtainedfields of view in real time to produce updated uninterrupted camerafields of view.

A method for autonomous driving includes driving by calculations thatuse the uninterrupted camera field of view provided by theaforementioned method.

Additional features, advantages, and embodiments of the disclosure areset forth or apparent from consideration of the following detaileddescription, drawings and claims. Moreover, it is to be understood thatboth the foregoing summary of the disclosure and the following detaileddescription are exemplary and intended to provide further explanationwithout limiting the scope of the disclosure as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a schematic illustration of a front perspective view of thesensor assembly according to one aspect of the disclosure.

FIG. 1B is a schematic illustration of a rear perspective view of thesensor assembly according to one aspect of the disclosure.

FIG. 2A is a schematic illustration of an interior of the side mirrorassembly according to one aspect of the disclosure.

FIG. 2B is a schematic illustration of an exterior of the side mirrorassembly according to one aspect of the disclosure.

FIG. 3 is a schematic illustration of an exploded view of the sidemirror assembly according to one aspect of the disclosure.

FIGS. 4A-4C are schematic illustrations of example fields of view of thefirst camera, the second camera, and the third camera according to oneaspect of the disclosure.

FIG. 4D is a schematic illustration of an example field of view of afourth camera according to one aspect of the disclosure.

FIGS. 4E-1 and 4E-2 are schematic illustrations of example fields ofview of the first camera, the second camera, and the third camera incombination with the field of view of the fourth camera according to oneaspect of the disclosure.

FIGS. 5-1 and 5-2 are schematic illustrations of a top-down view of thecombination of the field of view of the first camera, the field of viewof the second camera, the field of view of the third camera, and thefield of view of the fourth camera according to one aspect of thedisclosure.

FIGS. 6-1 and 6-2 are schematic illustrations of the camera field ofview when the first camera has been rotated away from the autonomousvehicle according to one aspect of the disclosure.

FIG. 7 is a schematic illustration of a distal end of a traileraccording to one aspect of the disclosure.

FIGS. 8 and 9 are schematic illustrations of an example camera field ofview according to one aspect of the disclosure.

FIG. 10 is a schematic illustration of an example camera field of viewof the sensor assembly at 50 m, 100 m, 150 m, and 200 m according to oneaspect of the disclosure.

FIGS. 11-1 and 11-2 are more zoomed-in views of the schematicillustration of FIG. 10 according to one aspect of the disclosure.

FIG. 12 is a schematic illustration of a perspective view of an examplecamera field of view of the sensor assembly according to one aspect ofthe disclosure.

FIG. 13 is a schematic illustration of an example camera field of viewaccording to one aspect of the disclosure.

FIG. 14A is a schematic illustration of a total field of view of a frontlidar and two side lidars according to one aspect of the disclosure.

FIG. 14B is a schematic illustration of a field of view of a front lidaraccording to one aspect of the disclosure.

FIG. 14C is a schematic illustration of a total field of view of twoside lidars according to one aspect of the disclosure.

FIG. 15 shows a non-limiting perspective illustration of a side viewapparatus for an autonomous vehicle according to one aspect of thedisclosure.

FIG. 16 shows a non-limiting illustration of a side view apparatus foran autonomous vehicle according to one aspect of the disclosure.

FIG. 17 shows a non-limiting front view photograph of a side viewapparatus for an autonomous vehicle according to one aspect of thedisclosure.

FIG. 18 shows a non-limiting rear view photograph of a side viewapparatus for an autonomous vehicle according to one aspect of thedisclosure.

FIG. 19 shows a non-limiting perspective illustration of a sensor systemfor an autonomous vehicle according to one aspect of the disclosure.

FIG. 20 shows a non-limiting detailed perspective illustration of asensor system for an autonomous vehicle according to one aspect of thedisclosure.

FIG. 21 shows a non-limiting perspective illustration of a retrofitsensor kit for an autonomous vehicle according to one aspect of thedisclosure.

FIG. 22 shows a front elevational view illustration of a side viewapparatus (left side/driver side) for an autonomous vehicle according toone aspect of the disclosure.

FIG. 23 shows a back elevational view illustration of a side viewapparatus for an autonomous vehicle according to one aspect of thedisclosure.

FIG. 24 shows a right side elevational view illustration of a side viewapparatus for an autonomous vehicle according to one aspect of thedisclosure.

FIG. 25 shows a left side elevational view illustration of a side viewapparatus for an autonomous vehicle according to one aspect of thedisclosure.

FIG. 26 shows a top plan view illustration of a side view apparatus foran autonomous vehicle according to one aspect of the disclosure.

FIG. 27 shows a top back left perspective view illustration of a sideview apparatus for an autonomous vehicle according to one aspect of thedisclosure.

FIG. 28 shows a top front left perspective view illustration of a sideview apparatus for an autonomous vehicle according to one aspect of thedisclosure.

DETAILED DESCRIPTION

Embodiments described herein are directed to sensor assemblies forautonomous vehicles. Autonomous vehicles use a variety of sensors tomonitor their surroundings. The sensors may include, for example,cameras, lidars, radars, and inertial measurement units (IMUs). Thecombined data from the sensors may be used by a processor toautonomously navigate the roadway in a variety of light and weatherconditions.

Several sensor-related technologies have been applied towards theexpanding field of autonomous vehicles. While some advancements havebeen directed towards personal and commercial cars and vehicles, theapplication of these technologies towards semi-trailer trucks posesunique challenges and constraints. First, semi-trailer trucks generallytravel long distances over roadways of varying quality underhigh-vibration and shock force conditions. Thus, sensor systems for usethereby must be configured to withstand such vibrations and forces forprolonged periods of time. Second, as the trailer towed by thesemi-trailer truck blocks a significant portion of the rearwardvisibility, the position of sensors relative to the vehicle is keytowards minimizing and eliminating sensor blind spots. Third, the heavycargo weights towed by such vehicles may be difficult to maneuver,accelerate, and decelerate in response to road conditions and hazards,and, as such, precise and widespread object detection is required toenable rapid and safe autonomous driving.

As such, provided herein are apparatus, systems, and kits comprisingsupport structures and sensors, which are configured to provide greaterfields of view and higher quality and more reliable data for autonomousdriving. The specific sensor placement and the rigidity of the supportstructures enable a sufficient field of view while reducing vibrationaldisturbances for increased object detection rate and higher qualitypositional data. Further, the apparatus, systems, and kits describedherein may be installed on an autonomous vehicle without requiringmaterial modification to the autonomous vehicle, and without preventingaccess to the vehicle by a human driver, precluding the view of thehuman driver, or hindering operation of the vehicle by the human driver.Such human driver access allows for more complex loading and unloadingmaneuvers, precise operation in dangerous or restricted areas, andenables a safety and/or security member to remain within the vehicle,with or without operating the vehicle.

Sensors used for autonomous driving are exposed to high amounts of shockand vibration when driving on the road. Movements from these vibrations(deflections) can degrade sensor data and can be detrimental to theperformance of the self-driving system. The shape of tractor and trailermakes it challenging to position sensors without the sensors havingblind spots. In order for sensors to see backwards they must becantilevered out to the sides at points wider than the trailer. However,a structure will deflect more as the length of its cantilever increases,and therefore highly rigid structures are described herein that increasethe natural frequencies of the cantilevered components.

FIGS. 1A and 1B are schematic illustrations of a sensor assembly 100 forautonomous vehicles according to one aspect of the disclosure. FIG. 1Ais a schematic illustration of a front perspective view of the sensorassembly 100, and FIG. 1B is a schematic illustration of a rearperspective view of the sensor assembly 100. The sensor assembly 100includes a side mirror assembly 102 configured to mount to a vehicle.The side mirror assembly 102 includes a first camera 104 having a fieldof view in a direction opposite a direction of forward travel of thevehicle. The sensor assembly 100 includes a second camera 106 having afield of view in the direction of forward travel of the vehicle. Thesensor assembly 100 includes a third camera 108 having a field of viewin a direction substantially perpendicular to the direction of forwardtravel of the vehicle. The first camera 104, the second camera 106, andthe third camera 108 are oriented to provide, in combination with afourth camera configured to be mounted on a roof of said vehicle, anuninterrupted camera field of view from the direction of forward travelof the vehicle to the direction opposite the direction of forward travelof the vehicle.

The second camera 106 and the third camera 108 may be included in theside mirror assembly 102, as shown in FIGS. 1A and 1B, or may bepositioned in other locations, for example, on the roof of theautonomous vehicle.

According to one aspect, the first and second cameras 104, 106 arenarrow field of view cameras, and the third camera 108 and the fourthcamera are wide field of view cameras.

The term “camera field of view” is used herein to indicate a total fieldof view of one or more cameras. The cameras may be configured to capturetwo-dimensional or three-dimensional images. The term “wide field ofview camera” is used herein to indicate a camera that has a field ofview that is wider than a field of view of a “narrow field of viewcamera.” According to one aspect, the wide field of view camera has afield of view greater than 90°. According to one aspect, the wide fieldof view camera has a field of view greater than 120°. According to oneaspect, the wide field of view camera is configured to detect objects ata distance less than 200 m from the autonomous vehicle.

According to one aspect, the narrow field of view camera has a field ofview less than 90°. According to one aspect, the narrow field of viewcamera has a field of view less than 45°. According to one aspect, thenarrow field of view camera is configured to detect objects at adistance greater than 50 m from the autonomous vehicle.

According to one aspect of the disclosure, the side mirror assembly 102includes one or more of a radar, a lidar, and an inertial measurementunit (IMU). The side mirror assembly 102 schematically illustrated inFIGS. 1A and 1B includes a radar 110 and a lidar 112. According to oneaspect, the lidar 112 includes an IMU integrated therein. However, theside mirror assembly 102 may include an IMU that is independent of theother sensors, or integrated into the cameras, the radar, or anadditional sensor. The side mirror assembly 102 may include a mirror114.

The lidar 112 and radar 110 may provide different types of informationthan the cameras 104, 106, 108, and may be particularly useful forcertain tasks or conditions. The lidar 112 may assist in trackingvehicles or objects passing or being passed by the autonomous vehicle.For example, as a car passes the autonomous vehicle, the appearance ofthe car may change as it is captured first from the front, then from theside, and then from behind, and therefore tracking of the car by cameramay be difficult. The lidar, however, may provide a continuous signalcorresponding to the car that enables the autonomous vehicle to trackthe car as it passes. The lidar may also be particularly useful atnight, when visible light is limited, and therefore the camera signalsare weaker. The lidar 112 may be configured to detect objects within aradius of about 75 m, for example. According to one aspect, the lidar112 may be configured to detect objects within a radius of about 50 m.

The radar 110 may enable the autonomous vehicle to navigate in difficultweather and light conditions. The radar 110 may supplement theinformation from the cameras 104, 106, 106 and lidar 112, which may havedifficulty obtaining clear images and signals in the presence of fog,rain, and snow. The radar 110 may also provide information regardingobjects that are occluded in the camera and lidar data. For example, theradar 110 may detect a car in front of the autonomous vehicle, as wellas a motor cycle in front of the car. In contrast, if the motor cycle iscompletely obscured by the car, the cameras 104, 106, 108 and lidar 112may not detect the motorcycle.

FIG. 2A is a schematic illustration of an interior of the side mirrorassembly 102 according to one aspect of the disclosure. The side mirrorassembly 102 has a sheet metal box structure, and includes a pluralityof braces 200, 202 that attach to the walls 204, 206 of the box. Thesheet metal box structure has a shape and is made of materials that givethe system high stiffness. It is important that the side mirror assembly102 does not have a resonant frequency at or below common frequenciesgenerated when driving on highways, for example, 15-20 Hz. The commonfrequencies generated when driving are referred to herein as“environment frequencies.” The shape and materials of the sheet metalbox, combined with the triangular braces 200, 202 as well as epoxy usedto join important components, stiffen the system such that the overallfrequency of each natural mode of the system is higher than theenvironment frequencies. For example, the side mirror assembly 102 mayhave a natural frequency that is at least 1.5-2x higher than theenvironment frequency. The term “natural frequency” refers to thefrequency of the natural modes of the side mirror assembly 102.

As shown in FIGS. 1A-2A, the first camera 104, the second camera 106,and the third camera 108 may be co-located at an upper portion of theside mirror assembly 102. In one aspect, the first camera 104, the thirdcamera 108, and the second camera 106 are all disposed within a volumeof 8 in³ on the upper portion of the side mirror assembly 102.Co-locating the three cameras on the upper portion of the side mirrorassembly 102 reduces the total number of sensor-mounting locations,which reduces the time needed to build up each vehicle. Co-locating thethree cameras also reduces the mechanical tolerance stack up betweencameras, and provides an easily accessible location to add cameracleaning features, for example, a water jet or a compressed air nozzle.Each of the cameras may have a weight less than 100 g. According to oneaspect, each of the cameras may have a weight of 70 g or less. Accordingto one aspect, the total weight of the three cameras may be less than200 g. Reducing the weight of the cameras reduces the torque on the sidemirror assembly 102, and therefore may reduce deflection of the sidemirror assembly 102.

The side mirror assembly 102 may include a camera mounting platform 208.The camera mounting platform 208 may accommodate one or more cameras,and may or may not be designed for a specific camera. This enables thecameras to be easily adjusted or replaced. The relative position andorientation of the cameras can be fixed prior to mounting the cameras onthe side mirror assembly 102, for example, by mounting the cameras to acommon fixture 208. Each camera may include an individual mountingfixture designed to fix the camera at a particular orientation withrespect to a common fixture 210. The orientation of the camera may beadjusted by adjusting or replacing the mounting fixture, or by adjustingthe design of the common fixture 210. The modularity of the cameras andthe common fixture 210 enables one or more of the cameras to be quicklyadjusted or replaced without requiring that the other components of theside mirror assembly 102 be repositioned or replaced.

FIG. 2B is a schematic illustration of an exterior of the side mirrorassembly 102 according to one aspect of the disclosure. The side mirrorassembly 102 includes a housing 212 positioned to cover the first camera104, the second camera 106, and the third camera 108. The housing 212includes a ceiling portion 214 and a side portion 216. The side portion216 defines through-holes through which the cameras capture images. Thehousing 212 may prevent debris from damaging the cameras and relatedcables, and may also reduce solar heating of the cameras.

FIG. 3 is a schematic illustration of an exploded view of the sidemirror assembly 102 according to one aspect of the disclosure. The firstcamera 104, the second camera 106, and the third camera 108 are eachdisposed on an upper portion of the side mirror assembly 102, and areenclosed in the ceiling portion 214 and the side portion 216 of thehousing 212. The side mirror assembly 102 includes a radar 110configured to be secured to a lower portion of the side mirror assembly102. The radar 110 is mounted on a removable part 300, which allows itslocation and orientation to be easily changed by modifying that part.The side mirror assembly 102 also includes a lidar 112 configured to besecured to a lower portion of the side mirror assembly 102. The lidar112 is mounted on a removable part 302, which allows its location andorientation to be easily changed by modifying that part.

The sensor assembly 100 further includes an arm assembly 304 configuredto project the side mirror assembly 102 outward from the autonomousvehicle. The arm assembly 304 includes a beam assembly 306 configured toconnect to the side mirror assembly 102, and a mounting assembly 308configured for attachment to the autonomous vehicle. For example, theautonomous vehicle may be a truck, and the mounting assembly may includemountings, such as brackets 310, for attachment to an A-pillar of thetruck. A truck's A-pillar provides a very stiff mounting point.

FIGS. 4A-4C are schematic illustrations of example fields of view of thefirst camera 104, the second camera 106, and the third camera 108according to one aspect of the disclosure. As illustrated in FIG. 4A,the first camera 104 has a field of view 400 in a direction opposite adirection 402 of forward travel of the vehicle 404. As illustrated inFIG. 4B, the second camera 106 has a field of view 406 in the direction402 of forward travel of the vehicle 404. As illustrated in FIG. 4C, thethird camera 108 has a field of view 408 in a direction substantiallyperpendicular to the direction 402 of forward travel of the vehicle 404.The field of view 408 of the wide field of view may or may not beexactly perpendicular to the direction 402 of forward travel of thevehicle 404. For example, the center of the field of view 408 may bewithin 30° of the direction perpendicular to the direction 402 offorward travel. In one aspect, the center of the field of view 408 maybe within 10° of the direction perpendicular to the direction 402 offorward travel. The first camera 104, the second camera 106, and thethird camera 108 are oriented to provide an uninterrupted camera fieldof view from the direction of forward travel of the vehicle to adirection opposite the direction of forward travel of the vehicle.

FIG. 4D is a schematic illustration of an example field of view of afourth camera 410. The fourth camera 410 is configured to be mounted onthe roof of the vehicle 404. As illustrated in FIG. 4D, the fourthcamera 410 has a field of view 412 in the direction 402 of forwardtravel of the vehicle 404.

The sensor assembly 100 may include additional sensors positioned on theroof of the autonomous vehicle. For example, the sensor assembly 100 mayinclude a second lidar positioned on the roof of the autonomous vehicle,for example, near the fourth camera 410. The second lidar may beconfigured to detect objects at a different distance than the lidar 112.For example, the second lidar may be configured to detect objects withina radius of about 125 m. According to one aspect, the second lidar maybe configured to detect objects within a radius of about 100 m. Thelidar 112 and any additional lidars may emit laser light at a frequencybetween 800 nm and 1600 nm, for example. The sensor assembly 100 mayinclude an IMU on the roof of the vehicle. The IMU on the roof of thevehicle may be used for navigation, for example, the IMU may aid theautonomous vehicle in determining the direction of the vehicle's travel.

FIGS. 4E-1 and 4E-2 are schematic illustrations of example fields ofview 400, 406, 408 of the first camera 104, the second camera 106, andthe third camera 108 in combination with the field of view 412 of thefourth camera 410 according to one aspect of the disclosure. In FIG.4E-1 , each of the fields of view is filled with a representativepattern, highlighting the concept of an uninterrupted field of view. InFIG. 4E-2 , the representative patterns are only included along theinner edges of the fields of view, enabling the boundaries of therespective fields of view to be more easily distinguished. Asillustrated in FIGS. 4E-1 and 4E-2, the first camera 104, the secondcamera 106, and the third camera 108 are oriented to provide, incombination with the fourth camera 410, an uninterrupted camera field ofview from the direction 402 of forward travel of the vehicle 404 to adirection opposite the direction 402 of forward travel of the vehicle404.

According to one aspect, the uninterrupted camera field of view spans atleast 180°. For example, in FIGS. 4E-1 and 4E-2 , more than 180° of thecircle 414 is within the camera field of view, without interruption.This concept is described in more detail with respect to FIGS. 5-1 and5-2 .

Although FIGS. 4A-4E-2 illustrate fields of view of four cameras, thesensor assembly may include three additional cameras on the oppositeside of the autonomous vehicle from the first camera 104, the secondcamera 106, and the third camera 108. The three additional cameras mayhave three additional fields of view corresponding to the fields of viewof the first camera 104, the second camera 106, and the third camera108, as schematically illustrated in FIGS. 5-1, 5-2, 6-1, and 6-2 .

FIGS. 5-1 and 5-2 are schematic illustrations of a top-down view of thecombination of the field of view 400 of the first camera 104, the fieldof view 406 of the second camera 106, the field of view 408 of the thirdcamera 108, and the field of view 412 of the fourth camera 410 accordingto one aspect of the disclosure. The combined fields form anuninterrupted camera field of view that span more than 180°. Forexample, the arc 516 spans more than 180°, beginning at a first point518 at the side of the autonomous vehicle and extending to a secondpoint 520 at the outer edge of the field of view 412 of the fourthcamera 410. The arc 516 is completely covered by the camera field ofview, without interruption. As illustrated in FIGS. 5-1 and 5-2 , withthe addition of three cameras on the right side of the autonomousvehicle mirroring the three cameras 104, 106, 108 on the left side ofthe autonomous vehicle, the camera field of view extends uninterruptedfrom the left side of the vehicle, to the front of the vehicle, to theright side of the vehicle. In the case of a tractor trailer, the edgesof the camera field of view are co-terminus with the sides 522, 524 ofthe trailer, as shown in FIGS. 5-1 and 5-2 .

In one aspect, the fourth camera 410 and the second camera 106 areoriented such that the field of view 412 of the fourth camera 410overlaps the field of view 406 of the second camera 106. As shown inFIGS. 5-1 and 5-2 , the field of view 412 of the fourth camera 410 maycompletely overlap the field of view 406 of the second camera 106 in ahorizontal plane. However, the fourth camera 410 may be oriented atdifferent pitches, and may be configured to capture images of objects atdifferent distances.

In one aspect, the sensor assembly 100 provides sufficient faulttolerance such that the edges of the camera field of view remainco-terminus with the sides 522, 524 of the trailer when the first camera104 is maximally offset to tolerance limits. FIGS. 6-1 and 6-2 areschematic illustrations of the camera field of view when the firstcamera has been rotated away from the autonomous vehicle. As shown inFIGS. 6-1 and 6-2 , the overlap between the field of view 400 of thefirst camera 104 and the field of view 408 of the third camera 108 hasincreased, but the camera field of view is still co-terminus with thesides 522, 524 of the trailer. This ensures that objects adjacent to thetrailer are visible at all times.

In one aspect, the first camera 104 is oriented such that the side ofthe trailer is included in the field of view. FIG. 7 shows a distal endof a trailer 700. The field of view 400 of the right-side first camera104 would extend to the line 702 if the side of the trailer 700 did notobstruct the field of view 400.

FIGS. 8 and 9 are schematic illustrations of an example camera field ofview according to an aspect of the present invention.

FIG. 10 is a schematic illustration of an example camera field of viewof the sensor assembly 100 at 50 m, 100 m, 150 m, and 200 m. In oneaspect, the first camera 104 and the third camera 108 are oriented suchthat the field of view 400 of the first camera 104 overlaps the field ofview 408 of the third camera 108. The overlap 1000 is indicated in FIG.10 . In one aspect, the overlap 1000 spans an angle of at least 5°. Inone aspect, the overlap 1000 spans an angle of at least 10°. The overlap1000 increases the fault tolerance of the sensor assembly 100, ensuringthat objects approaching from behind the vehicle, for example, can bedetected and tracked.

In one aspect, the fourth camera 410 and the third camera 108 areoriented such that the field of view 412 of the fourth camera 410overlaps the field of view 408 of the third camera 108. The overlap 1002is indicated in FIG. 10 . In one aspect, the overlap 1002 spans an angleof at least 5°. In one aspect, the overlap 1002 spans an angle of atleast 10°. The overlap 1000 increases the fault tolerance of the sensorassembly 100, ensuring that objects approaching the vehicle from thefront and side, for example, can be detected and tracked.

FIGS. 11-1 and 11-2 are more zoomed-in views of the schematicillustration of FIG. 10 . In FIG. 11-1 , each of the fields of view isfilled with a representative pattern, whereas in FIG. 11-2 , therepresentative patterns are only included along the inner edges of thefields of view. FIG. 12 is a schematic illustration of a perspectiveview of an example camera field of view of the sensor assembly 100.

FIG. 13 is a schematic illustration of an example camera field of viewaccording to an aspect of the disclosure. FIG. 13 shows the field ofview 400 corresponding to the first camera 104, the field of view 406corresponding to the second camera 106, and the field of view 408corresponding to the third camera 108. The three fields of view 400,406, 408 provide an uninterrupted camera field of view from thedirection of forward travel of the vehicle to a direction opposite thedirection of forward travel of the vehicle. The field of view 4U of thefourth camera 410 overlaps the fields of view 406, 408 of the secondcamera 106 and the third camera 108. The sensor assembly 100 may includethree right-side cameras mirroring the three left-side cameras whosefields of view 400, 406, 408 are illustrated in FIG. 13 .

According to some embodiments of the invention, the sensor assembly forautonomous vehicles includes a plurality of lidars. FIGS. 14A-14C areschematic illustrations of lidar fields of view according to one aspect.FIG. 14A shows a total field of view of a front lidar (or multiplelidars) and two side lidars. FIG. 14B shows a field of view of a frontlidar (or multiple lidars). FIG. 14C shows a total field of view of twoside lidars. The two side lidars provide a 360 degree field of view. Thefield of view can be trimmed, for example, to 210 degrees, usingsoftware.

In one aspect, disclosed herein is side view apparatus for an autonomousvehicle comprising: a support frame having a proximal end, a distal end,and a vertical medial plane defined as intersecting and parallel to thevector created by the proximal end and the distal end, wherein theproximal end comprises a coupling for attachment to the autonomousvehicle, and wherein the distal end comprises a rear-facing portion, anupper portion and a lower portion; a camera attached to the distal endof the support frame; and one, two, or more of a lidar, a radar, and aninertial measurement unit (IMU) attached to the distal end of thesupport frame.

In some embodiments, the side view apparatus comprises a radar. In someembodiments, the radar is directed towards the rear-facing portion ofthe support frame. In some embodiments, the radar is directed withinabout 0 degrees to about 180 degrees of the vertical medial plane. Insome embodiments, the radar is positioned at the lower portion of thedistal end of the support frame. In some embodiments, the radar ispositioned at the upper portion of the distal end of the support frame.In some embodiments, the side view apparatus comprises a lidar. In someembodiments, the lidar comprises a Frequency Modulated Continuous Wave(FMCW) laser. In some embodiments, the lidar is positioned at the lowerportion of the distal end of the support frame. In some embodiments, thelidar is positioned at the upper portion of the distal end of thesupport frame. In some embodiments, the camera is positioned at theupper portion of the distal end of the support frame. In someembodiments, the camera is directed towards the rear-facing portion ofthe support frame. In some embodiments, the side view apparatuscomprises an inertial measurement unit (IMU) attached to the distal endof the support frame. In some embodiments, the side view apparatusfurther comprises a mirror attachment on the rear-facing portion of thesupport frame, wherein the mirror attachment is configured to receive amirror assembly. In some embodiments, the side view apparatus furthercomprises a mirror assembly on the rear-facing portion of the supportframe. In some embodiments, the autonomous vehicle comprises a car, atruck, a semitrailer truck, a trailer, a cart, a snowmobile, a tank, abulldozer, a tractor, a van, a bus, a motorcycle, a scooter, or asteamroller.

In some embodiments, the camera is directed within about 0 degrees ofthe vertical medial plane to about 180 degrees of the vertical medialplane. In some embodiments, a distance from the proximal end to thedistal end of the support frame is about 50 mm to about 650 mm. In someembodiments, the side view apparatus has a natural frequency of about 20Hz to about 200 Hz.

Another aspect provided herein is a sensor system for an autonomousvehicle comprising a left side view apparatus, a right side viewapparatus, or a left side view apparatus and a right side viewapparatus, wherein the left side view apparatus and the right side viewapparatus comprise: a support frame having a proximal end, a distal end,and defining a vertical medial plane intersecting and parallel to thevector created by the proximal end and the distal end, wherein theproximal end comprises a coupling for attachment to the autonomousvehicle, and wherein the distal end comprises a rear-facing portion, anupper portion and a lower portion; a camera attached to the distal endof the support frame; and one, two, or more of a lidar, a radar, and aninertial measurement unit (IMU) attached to the distal end of thesupport frame; and one or more of: a left side sensor assemblyconfigured to mount to left side of the autonomous vehicle; a right sidesensor assembly configured to mount to right side of the autonomousvehicle; and a top side sensor assembly configured to mount to a roof ofthe autonomous vehicle; wherein the left side sensor assembly, the rightside sensor assembly, and the top side sensor assembly comprise one ormore of: a vehicle camera; a vehicle lidar; and a vehicle radar.

In some embodiments, the left side view apparatus and the right sideview apparatus comprise a radar. In some embodiments, the radar isdirected towards the rear-facing portion of the support frame. In someembodiments, the radar is directed within about 0 degrees to about 180degrees of the vertical medial plane. In some embodiments, the radar ispositioned at the lower portion of the distal end of the support frame.In some embodiments, the radar is positioned at the upper portion of thedistal end of the support frame.

In some embodiments, the sensor system comprises a lidar. In someembodiments, the lidar comprises a Frequency Modulated Continuous Wave(FMCW) laser. In some embodiments, the lidar is positioned at the lowerportion of the distal end of the support frame. In some embodiments, thelidar is positioned at the upper portion of the distal end of thesupport frame.

In some embodiments, at the camera is positioned at the upper portion ofthe distal end of the support frame. In some embodiments, the sensorsystem comprises an inertial measurement unit (IMU) attached to thedistal end of the support frame. In some embodiments, the sensor systemfurther comprises a mirror attachment on the rear-facing portion of thesupport frame, wherein the mirror attachment is configured to receive amirror assembly. In some embodiments, the sensor system furthercomprises a mirror assembly on the rear-facing portion of the supportframe. In some embodiments, the autonomous vehicle comprises a car, atruck, a semi-trailer truck, a trailer, a cart, a snowmobile, a tank, abulldozer, a tractor, a van, a bus, a motorcycle, a scooter, or asteamroller. In some embodiments, the vehicle camera comprises aninfrared camera. In some embodiments, the vehicle lidar comprises afront view lidar, a side view lidar, and/or a rear view lidar. In someembodiments, the vehicle radar comprises a front view radar, a side viewradar, and/or a rear view radar.

In some embodiments, the camera is directed towards the rear-facingportion of the support frame. In some embodiments, a distance from theproximal end to the distal end of the support frame is about 50 mm toabout 650 mm. In some embodiments, the side view apparatus has a naturalfrequency of about 20 Hz to about 200 Hz.

Another aspect provided herein is a retrofit sensor kit for anautonomous vehicle comprising a left side view apparatus, a right sideview apparatus, or a left side view apparatus and a right side viewapparatus, wherein the left side view apparatus and the right side viewapparatus comprise: a support frame having a proximal end, a distal end,and defining a vertical medial plane intersecting and parallel to thevector created by the proximal end and the distal end, wherein theproximal end comprises a coupling for attachment to the autonomousvehicle, and wherein the distal end comprises a rear-facing portion, anupper portion and a lower portion; a camera attached to the distal endof the support frame; and one, two, or more of a lidar, a radar, and aninertial measurement unit (IMU) attached to the distal end of thesupport frame; and a fastener configured to attach at least one of theleft side view apparatus, the right side view apparatus to theautonomous.

In some embodiments, the left side view apparatus and the right sideview apparatus comprise a radar. In some embodiments, the radar isdirected towards the rear-facing portion of the support frame. In someembodiments, the radar is directed within about 0 degrees to about 180degrees of the vertical medial plane. In some embodiments, the radar ispositioned at the lower portion of the distal end of the support frame.In some embodiments, the radar is positioned at the upper portion of thedistal end of the support frame.

In some embodiments, the retrofit sensor kit comprises lidar. In someembodiments, the lidar comprises a Frequency Modulated Continuous Wave(FMCW) laser. In some embodiments, the lidar is positioned at the lowerportion of the distal end of the support frame. In some embodiments, thelidar is positioned at the upper portion of the distal end of thesupport frame.

In some embodiments, at the camera is positioned at the upper portion ofthe distal end of the support frame. In some embodiments, the camera isdirected towards the rear-facing portion of the support frame. In someembodiments, the camera is directed within about 0 degrees to about 180degrees of the vertical medial plane.

In some embodiments, a distance from the proximal end to the distal endof the support frame is at least about 50 mm. In some embodiments, adistance from the proximal end to the distal end of the support frame isabout 300 mm to about 650 mm. In some embodiments, the retrofit sensorkit has a natural frequency of about 20 Hz to about 200 Hz. In someembodiments, the retrofit sensor kit further comprises an inertialmeasurement unit (IMU) attached to the distal end of the support frame.

In some embodiments, the retrofit sensor kit further comprises a mirrorattachment on the rear-facing portion of the support frame, wherein themirror attachment is configured to receive a mirror assembly. In someembodiments, the retrofit sensor kit further comprises a mirror assemblyon the rear-facing portion of the support frame. In some embodiments,the autonomous vehicle comprises a car, a truck, a semi-trailer truck, atrailer, a cart, a snowmobile, a tank, a bulldozer, a tractor, a van, abus, a motorcycle, a scooter, or a steamroller. In some embodiments, thefastener comprises a screw, a bolt, a nut, an adhesive, a tape, a tie, arope, a clamp, or any combination thereof.

Provided herein are apparatus, systems, and kits comprising supportstructures and sensors configured to provide greater fields of view andhigh quality data for autonomous driving. The specific sensor placementand the rigidity of the support structures herein enable a sufficientfield of view while reducing vibrational disturbances to provide greaterobject detection rate and higher quality positional data.

Side View Apparatus for an Autonomous Vehicle

One aspect disclosed herein is per FIGS. 15-18 and 22-28 is a side viewapparatus 1500 for an autonomous vehicle comprising a support frame1501, a camera 1502 attached to the support frame 1501, and one, two, ormore of a lidar 1503, a radar 1504, and an inertial measurement unit(IMU) 1506 attached to the distal end of the support frame 1501. Theside view apparatus 1500 may be configured for a specific type ofautonomous vehicle. The side view apparatus 1500 may be a left side viewapparatus 1500 or a right side view apparatus 1500.

The support frame 1501 may have a proximal end 1501B, a distal end1501A, and a vertical medial plane 1510 defined as intersecting andparallel to the vector created by the proximal end 1501B and the distalend 1501A. The proximal end 1501B may be defined as an end of thesupport frame 1501 or an end of the side view apparatus that is closestto the autonomous vehicle. The distal end 1501A may be defined as an endof the support frame 1501 or an end of the side view apparatus that isfarthest from the autonomous vehicle. The distal end 1501A of thesupport frame 1501 may comprise a rear facing portion 1520, an upperportion 1501C, and a lower portion 1501D. The rear facing portion 1520may be defined as a portion of the support frame 1501 closest to therear of the autonomous vehicle. The rear facing portion 1520 may bedefined as a portion of the support frame 1501 furthest from the frontof the autonomous vehicle. The upper portion 1501C of the support frame1501 may be defined as an upper most portion of the support frame 1501.The upper portion 1501C of the support frame 1501 may be defined as aportion of the support frame 1501 that is furthest from the ground whenthe side view apparatus is installed on the autonomous vehicle. Thelower portion 1501D of the support frame 1501 may be defined as abottommost portion of the support frame 1501. The lower portion 1501D ofthe support frame 1501 may be defined as a portion of the support frame1501 that is closest from the ground when the side view apparatus isinstalled on the autonomous vehicle.

The side view apparatus 1500 may be installed on a vehicle withoutrequiring a material modification to the autonomous vehicle. The sideview apparatus 1500 may be installed on the autonomous vehicle withoutpreventing access to the vehicle by a human driver. The side viewapparatus 1500 may be installed on the autonomous vehicle withoutpreventing a human driver from operating the autonomous vehicle. Theside view apparatus 1500 may be installed on the autonomous vehiclewithout significantly precluding the field of vision of a human driver.Such access to a human driver allows more complex loading and unloadingmaneuvers, precise operation in dangerous or restricted areas, andenables a safety and/or security member to remain within the vehicle,with or without operating the vehicle.

The data collected by the camera 1502, the radar 1504, the lidar 1503,the inertial measurement unit (IMU) 1506, or any combination thereof,may be transmitted to the autonomous vehicle, whereby autonomous vehicleemploys such data towards navigation and driving.

The side view apparatus 1500 may further comprise an antenna, an antennamount, a data port, a satellite receiver, or any combination thereof

Support Frame

The support frame 1501 serves as a stable platform for data capture by acamera 1502, and one or more of a radar 1504, a lidar 1503, and aninertial measurement unit (IMU) 1506. The configurations of the supportframe 1501 disclosed herein enable object detection at greater fields ofview while preventing vibrations and external forces from degrading thequality of such data. As cameras 1502, radars 1504, and lidars 1503capture data radially, minute disturbances or fluctuations of the originof collection propagate linearly as a function of the distance of thedetected object. The degradation of such data, especially in thedescribed field of autonomous vehicles, is hazardous to both the vehicleitself as well as its surroundings.

The support frame 1501 may have a proximal end 1501B, a distal end1501A, and a vertical medial plane 1510 defined as intersecting andparallel to the vector created by the proximal end 1501B and the distalend 1501A. The distal end 1501A of the support frame 1501 may comprise arear-facing portion, an upper portion 1501C, and a lower portion 1501D.The proximal end 1501B of the support frame 1501 may comprise a coupling1505 for attachment to the autonomous vehicle.

In some embodiments, per FIG. 16 , a distance 1601 from the proximal end1501B to the distal end 1501A of the support frame 1501 is about 50 mmto about 650 mm. The distance 1601 from the proximal end 1501B to thedistal end 1501A of the support frame 1501 may be measured as a maximumdistance, a minimum distance, or an average distance between theproximal end 1501B and the distal end 1501A of the support frame 1501.The distance 1601 from the proximal end 1501B to the distal end 1501A ofthe support frame 1501 may directly correlate with the field of view ofthe side view apparatus 1500, whereby a greater distance 1601 allows fora greater field of view as the sensing devices are offset further fromthe autonomous vehicle.

In some embodiments, the support frame 1501 enables the side viewapparatus to have a natural frequency of about 20 Hz to about 200 Hz.The natural frequency is configured to provide the best performance ofthe system and reduce data distortion. The frame may have a specificmass, center of mass, material properties, and geometry, or anycombination thereof to reduce the natural frequency of the supportstructure and the side view apparatus.

As shown in FIG. 15 , the support structure may comprise a strut, abracket, a frame, or any combination thereof for rigidity. The supportframe 1501 may further comprise a spring, a dampener, a pulley, a plumb,or any combination thereof. The two or more components of the supportstructure may be adjoined by any common means including, but not limitedto, nuts, bolts, screws, rivets, welds, and adhesives. The supportstructure may be composed of any rigid material including, but notlimited to, steel, stainless steel, aluminum, carbon fiber, fiberglass,plastic, and glass. Per FIG. 18 , the support structure may comprise ahousing. The housing may be designed to reduce a parasitic drag impartedby the side view apparatus 1500.

Coupling

The coupling 1505 may comprise a shaft, a bearing, a hole, a screw, abolt, a nut, a hinge, or any combination thereof. The coupling 1505 maycomprise a removable coupling 1505. The coupling 1505 may comprise apermanent coupling 1505. The coupling 1505 may comprise a rotatingcoupling 1505. The coupling 1505 may comprise an existing coupling ofthe autonomous vehicle. The rotating coupling 1505 may comprise a motoror an engine to rotate the coupling 1505. The rotating coupling 1505 maycomprise a lock to set a rotational orientation of the coupling 1505.The rotating coupling 1505 may rotate about a vertical axis. Thevertical axis may be coincident with the medial plane 1510. The coupling1505 should be sturdy and rigid to withstand vibrational forces betweenthe autonomous vehicle and the support frame 1501. The coupling 1505 mayor may not require a modification to the autonomous vehicle.

Cameras

The side view apparatus 1500 may comprise one or more cameras 1502. Thecamera 1502 may be attached to the distal end 1501A of the support frame1501. As seen in FIG. 15 , the camera 1502 may be positioned at theupper portion 1501C of the distal end 1501A of the support frame 1501.The camera 1502 may be positioned above the upper portion 1501C of thesupport structure. The camera 1502 may be positioned at the lowerportion 1501D of the distal end 1501A of the support frame 1501. Thecamera 1502 may be attached at a fixed position on the support frame1501. The camera 1502 may comprise a camera 1502 housing. The camera1502 may comprise a tilt configured to change an orientation of thecamera 1502 with respect to the support frame 1501. The camera 1502 maycomprise a tilt configured to change an orientation of the camera 1502about one or more axes, with respect to the support frame 1501. Thecamera 1502 may be configured to zoom in or out to increase or decreasethe image magnification, respectfully. The camera 1502 may comprise avideo camera, an infrared camera, a thermal imaging camera, or anycombination thereof. The camera 1502 may have a resolution of 1, 2, 3,4, 5, 6, 7, 8, 9, 10, 12, 14, 16, 18, 20, 30 or more megapixels,including increments therein. The camera may have a focal length ofabout 4 mm to about 30 mm. The camera 1502 may have a focal length ofabout or at least about 4, 6, 8, 12, 14, 16, 18, 20, 22, 24, 26, or 28mm, including increments therein. The camera 1502 may have a field ofview of at least about 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80,85, 90, 95, 100, 110, 120, 130, 140, 150, 160, 170, or 180 degrees,including increments therein. The camera 1502 may have a field of viewof at most about 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90,95, 100, 110, 120, 130, 140, 150, 160, 170, or 180 degrees, includingincrements therein. The camera 1502 may have a field of view of about25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110,120, 130, 140, 150, 160, 170, 180 degrees or more, including incrementstherein.

The camera 1502 may correspond to one or more of the first camera 104,the second camera 106, and the third camera 108 described above.According to one aspect, the camera 1502 corresponds to the first camera104 described above. The camera 1502 may be directed towards therear-facing portion of the support frame 1501. As seen in FIG. 15 , thecamera 1502 may be directed at an angle of about 30 degrees with respectto the medial plane 1510 and about a vertical axis. In some embodiments,the camera 1502 is directed within 90, 80, 70, 60, 50, 40, 30, 20, or 10degrees of perpendicular to the vertical medial plane 110, includingincrements therein. In some embodiments, the camera 1502 is directedwithin 90 degrees of perpendicular to the vertical medial plane 1510about a vertical axis. The vertical axis may be parallel or coincidentwith the medial plane 1510. Further, the camera 1502 may be directed ata pitch of within about 45 degrees of a horizontal plane perpendicularto the medial vertical plane. The camera 1502 may be directed at a tiltof within about 45, 40, 35, 30, 25, 20, 15, 10, or 5 degrees of ahorizontal plane, including increments therein. The pitch may be apositive upward directed pitch or a negative downward directed pitch.The camera 1502 may be positioned about 50 mm to about 650 mm from theproximal end 1501B of the support structure. The position of the camera1502 may be defined by a point-to-point distance from the proximal end1501B of the support structure, a horizontal distance from the proximalend 1501B of the support structure, or a vertical distance from theproximal end 1501B of the support structure. The horizontal distance maybe perpendicular to rearward facing direction. The position of thecamera 1502 may be defined relative to the center of the outer lens ofthe camera 1502.

Radar

The side view apparatus may comprise one or more radars 1504. Per FIG.15 , the radar 1504 may be positioned at the lower portion 1501D of thedistal end 1501A of the support frame 1501. As seen, the radar 1504 maybe positioned distal to the lidar 1503. Alternatively, the radar 1504may be positioned proximal to the lidar 1503. The radar 1504 may bepositioned at the upper portion 1501C of the distal end 1501A of thesupport frame 1501. The radar 1504 may be directed towards therear-facing portion of the support frame 1501. As seen in FIG. 15 , theradar 1504 is directed about 45 degrees from the vertical medial plane1510. Alternatively, the radar 1504 may be directed within about 10degrees to about 170 degrees of the vertical medial plane 1510. Theradar 104 may be directed within about 10 degrees to about 170 degreesof the vertical medial plane 1510 about a vertical axis. In someembodiments, the radar 1504 is directed within 90, 80, 70, 60, 50, 40,30, 20, or 10 degrees of perpendicular to the vertical medial plane1510, including increments therein. In some embodiments, the radar 1504is directed within 90 degrees of perpendicular to the vertical medialplane 1510 about a vertical axis. The vertical axis may be parallel orcoincident with the medial plane 1510. Further, the radar 1504 may bedirected at a pitch of within about 45 degrees of a horizontal planeperpendicular to the medial vertical plane. The radar 1504 may bedirected within about 45, 40, 35, 30, 25, 20, 15, 10, or 5 degrees of ahorizontal plane, including increments therein. The pitch may be apositive upward directed pitch or a negative downward directed pitch.The radar 1504 may have a viewing angle of about 90, 180, 270, or 360degrees. The radar 1504 may be positioned about 50 mm to about 650 mmfrom the proximal end 1501B of the support structure. The position ofthe radar 1504 may be defined by a point-to-point distance from theproximal end 1501B of the support structure, a horizontal distance fromthe proximal end 1501B of the support structure, or a vertical distancefrom the proximal end 1501B of the support structure. The horizontaldistance may be perpendicular to rearward facing direction. The positionof the radar 1504 may be defined relative to the center of the outerlens of the radar 1504.

Lidar

The side view apparatus may comprise one or more lidars 1503. Per FIG.15 , the lidar 1503 may be positioned at the lower portion 1501D of thedistal end 1501A of the support frame 1501. As seen, the lidar 1503 maybe positioned proximal to the radar 1504. Alternatively, the lidar 1503may be positioned distal to the radar 1504. The lidar 1503 may extendbeyond the lower portion 1501D of the support structure. The lidar 1503may be positioned at the upper portion 1501C of the distal end 1501A ofthe support frame 1501. The lidar 1503 may be positioned about 50 mm toabout 650 mm from the proximal end 1501B of the support structure. Theposition of the lidar 1503 may be defined by a point-to-point distancefrom the proximal end 1501B of the support structure, a horizontaldistance from the proximal end 1501B of the support structure, or avertical distance from the proximal end 1501B of the support structure.The horizontal distance may be perpendicular to rearward facingdirection. The position of the lidar 1503 may be defined relative to thecenter of rotation of the lidar 1503. Further, the lidar 1503 may bedirected at a pitch of within about 45 degrees of a horizontal planeperpendicular to the medial vertical plane. The lidar 1503 may bedirected within about 45, 40, 35, 30, 25, 20, 15, 10, or 5 degrees of ahorizontal plane, including increments therein. The pitch may be apositive upward directed pitch or a negative downward directed pitch.The lidar 1503 may have a viewing angle of about 90, 180, 270, or 360degrees.

A lidar 1503 is a distance measuring device. The lidar 1503 may useultraviolet, visible, or near infrared light to image objects. The lidar1503 may target a wide range of materials, including non-metallicobjects, rocks, rain, chemical compounds, aerosols, clouds, and evensingle molecules. The lidar 1503 may comprise a narrow laser beam lidar1503. The lidar 1503 may have a resolution of 30, 25, 20, 15, 10, 5, 4,3, 2, 1, 0.5 cm or less, including increments therein. The lidar 1503may have a wavelength of about 10 micrometers to about 250 nanometers.The lidar 1503 may employ any common distance measuring techniquesincluding Rayleigh scattering, Mie scattering, Raman scattering,fluorescence, or any combination thereof.

In some embodiments, the lidar 1503 comprises a Frequency ModulatedContinuous Wave (FMCW) laser. FMCW, also called continuous-wavefrequency-modulated (CWFM), is a range measuring technique. FMCWincreases distance measurement reliability by additional measuringobject speed to account more than one source of reflection. The signaltransmitted by the FMCW may have a stable continuous wave frequencywhich varies over a fixed period of time by a modulating signal, wherebya frequency difference between the receive signal and the transmitsignal increases with delay, and hence with distance. Echoes from atarget may then be mixed with the transmitted signal to produce a beatsignal to blur any Doppler signal and determine distance of the targetafter demodulation. The modulating signal may comprise a sine wave, asawtooth wave, a triangle wave, or a square wave.

Inertial Measurement Unit

As illustrated in FIGS. 15 and 16 , the side view apparatus may furthercomprise an inertial measurement unit (IMU) 1506. The IMU 1506 may beattached to the distal end 1501A of the support frame 1501. The IMU 1506may be attached to the support frame 1501 at a center of mass (inertia)of the side view apparatus. The IMU 1506 may comprise a plurality ofsensors, including, but not limited to, a gyroscope, an accelerometer, alevel sensor, a pressure sensor, a potentiometer, a wind gauge, and astrain gauge. The IMU 1506 may be configured to measure a position, arotation, a speed, an acceleration, or any combination thereof of theside view apparatus 1500. The IMU 1506 may be configured to measure aposition, a rotation, a speed, an acceleration, or any combinationthereof of the side view apparatus 1500, with respect to the autonomousvehicle.

The IMU 1506 may transmit the position, the rotation, the speed, theacceleration, or any combination thereof to the autonomous vehicle.

The data collected by the camera 1502, the radar 1504, the lidar 1503,or any combination thereof may be transmitted to the IMU 1506. The IMU1506 may transmit the data collected by the camera 1502, the radar 1504,the lidar 1503, or any combination thereof to the autonomous vehicle.The data collected by the camera 1502, the radar 1504, the lidar 1503,or any combination thereof may be transmitted to the autonomous vehicle.

Mirrors

The side view apparatus 1500 may further comprise one or more mirrorattachments. The mirror attachment may be on the rear-facing portion ofthe support frame 1401. The mirror attachment may be configured toreceive a mirror assembly 1801. The mirror attachment may comprise asnap, a screw, a bolt, an adhesive, a threaded feature, or anycombination thereof. The mirror attachment may be configured to manuallyor automatically adjust a position of the mirror.

The side view apparatus 1500 may further comprise a mirror assembly1801. The mirror assembly 1801 may be on the rear-facing portion of thesupport frame 1501. The mirror assembly 1801 may comprise one or moremirrors. The mirrors may comprise a concave mirror, a planar mirror, ora convex mirror. The mirror may comprise a multi-focal mirror.

Autonomous Vehicles

In some embodiments, per FIG. 17 , the autonomous vehicle 1700 comprisesa semi-trailer. Alternatively, the autonomous vehicle 1700 comprises acar, a truck, a trailer, a cart, a snowmobile, a tank, a bulldozer, atractor, a van, a bus, a motorcycle, a scooter, or a steamroller. Theautonomous vehicle 1700 may comprise a land vehicle. The autonomousvehicle 1700 may have a forward side, a right side, a left side, and arear side. The forward side may be defined as the forward, or main,direction of travel of the autonomous vehicle. The right side may bedefined from the point of view of the autonomous vehicle 1700, or as 90degrees clockwise from the forward direction when viewed from above.

A semi-trailer truck, also known as a semi-truck, a semi, a tractortrailer, a big rig or an eighteen-wheeler, is the combination of atractor unit carriage and one or more semi-trailers that are configuredto contain a freight.

An autonomous vehicle 1700, also known as a self-driving vehicle, ordriverless vehicle is a vehicle that is capable of sensing itsenvironment and moving with little or no human input. Autonomousvehicles 1700 employ a variety of sensors to perceive theirsurroundings, whereby advanced control systems interpret sensoryinformation to identify appropriate navigation paths, as well asobstacles and relevant signage. The autonomous vehicles 1700 maycomprise a fully autonomous vehicle or a semi-autonomous vehicle 1700.

Sensor System for an Autonomous Vehicle

Another aspect provided herein, per FIGS. 18 and 19 , is a sensor system1900 for an autonomous vehicle comprising a left side view apparatus1500B, a right side view apparatus 1500A, or a left side view apparatus1500B and a right side view apparatus 1500A and one or more of a leftside sensor assembly 1901, a right side sensor assembly 1903, and a topside sensor assembly 1902.

The right side view apparatus 1500A may be configured to couple to theautonomous vehicle. The right side view apparatus 1500A may beconfigured to couple to the autonomous vehicle via the coupling. Theleft side view apparatus 1500B may be configured to couple to theautonomous vehicle. The left side view apparatus 1500B may be configuredto couple to the autonomous vehicle via the coupling.

The left side sensor assembly 1901 may be configured to mount to leftside of the autonomous vehicle. The right side sensor assembly 1903 maybe configured to mount to right side of the autonomous vehicle. The topside sensor assembly 1902 may be configured to mount to a roof of theautonomous vehicle. At least one of the left side sensor assembly 1901,the right side sensor assembly 1903, and the top side sensor assembly1902 may be configured to permanently mount to the autonomous vehicle.At least one of the left side sensor assembly 1901, the right sidesensor assembly 1903, and the top side sensor assembly 1902 may beconfigured to removably mount to the autonomous vehicle. At least one ofthe left side sensor assembly 1901, the right side sensor assembly 1903,and the top side sensor assembly 1902 may be configured to reduce aparasitic drag when mounted on the autonomous vehicle. The sensor system1900 may be installed on the autonomous vehicle without requiring amaterial modification to the autonomous vehicle. The sensor system 1900may be installed on the autonomous vehicle without preventing access tothe vehicle by a human driver. The sensor system 1900 may be installedon the autonomous vehicle without preventing a human driver fromoperating the autonomous vehicle. The sensor system 1900 may beinstalled on the autonomous vehicle without significantly precluding thefield of vision of a human driver. Such access to a human driver allowsmore complex loading and unloading maneuvers, precise operation indangerous or restricted areas, and enables a safety and/or securitymember to remain within the vehicle with or without operating thevehicle.

Per FIG. 20 , the left side sensor assembly 1901, the right side sensorassembly 1903, and the top side sensor assembly 1902 may comprise one ormore of: a vehicle camera 2002, a vehicle lidar 2001, and a vehicleradar 2003. The vehicle camera 2002 may comprise a forward view vehiclecamera 2002, a side-forward view vehicle camera, 2002, a side viewvehicle camera 2002, a wide field of view camera 2002, a narrow field ofview vehicle camera 2002 or any combination thereof. The forward viewvehicle camera 2002 may be generally directed towards the forward end ofthe autonomous vehicle. The side-forward view vehicle camera 2002 may begenerally directed at an angle within about 45 degrees from the forwardend of the autonomous vehicle. The side view vehicle camera 2002 may begenerally directed at a perpendicular angle from the forward end of theautonomous vehicle. The wide field of view camera 2002 may have a focallength of about 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, or 5 mm, includingincrements therein. The narrow field of view vehicle camera 2002 mayhave a focal length of about 12, 13, 14, 15, 16, 17, 18, 19, 20, 22, 24,26, 28, or 30 mm including increments therein.

The sensor system 1900 may further comprise a front bumper sensorassembly, a front window sensor assembly, or both. The front bumpersensor assembly and the front window sensor assembly may comprise avehicle camera 2002, a vehicle lidar 2001, and a vehicle radar 2003.

In some embodiments, the vehicle lidar 2001 comprises a front viewlidar, a side view lidar, or a rear view lidar. In some embodiments, thevehicle radar 2003 comprises a front view radar, a side view radar, or arear view radar

The sensor system 1900 may enable a field of view around the autonomousvehicle of 360 degrees. The sensor system 1900 may enable a field ofview around the autonomous vehicle of 360 degrees at a diameter of about100, 125, 150, 175, 200, 225, 250, 275, 300, 325, 350, 375, 400 metersor more, including increments there. The sensor system 1900 may provideredundant coverage within the field of view of about 10, 20, 30, 40, 50,60, 70, 80, 90 or more percent, including increments therein.

Retrofit Sensor Kit for an Autonomous Vehicle

Another aspect provided herein, per FIG. 21 , is a retrofit sensor kitfor an autonomous vehicle comprising a side view apparatus 1500, and oneor more of: a left side sensor assembly 2102, a right side sensorassembly 2103, and a top side sensor assembly 2104, and a fastener 2101.

The side view apparatus 1500 may comprise a left side view apparatus, aright side view apparatus, or a left side view apparatus and a rightside view apparatus.

The fastener 2101 may be configured to attach at least one of the leftside view apparatus, the right side view apparatus, the left side sensorassembly, the right side sensor assembly, and the top side sensorassembly to the autonomous vehicle. In some embodiments, the fastener2101 comprises a screw, a bolt, a nut, an adhesive, a tape, a strap, atie, a cable, a clamp, or any combination thereof.

As used herein, the term “about” refers to an amount that is near thestated amount by 10%, 5%, or 1%, including increments therein.

EXAMPLES

The following illustrative examples are representative of embodiments ofthe software applications, systems, and methods described herein and arenot meant to be limiting in any way.

Example 1—Camera Field of View

In one example, the sensor system for an autonomous vehicle comprises aleft side view apparatus comprising a camera, a left side sensorassembly comprising a side view vehicle camera and a side-forward viewvehicle camera, and a top side sensor assembly comprising a forward viewvehicle camera.

In this example, each of the cameras (e.g., the forward view vehiclecamera, the side-forward view vehicle camera, the side view vehiclecamera, and the camera of the left side view apparatus) has a focallength of about 4 mm to 30 mm.

Further, the side-forward view vehicle camera may have a pitch withrespect to a horizontal plane of about −10 degrees, the side viewvehicle camera may have a pitch of about −25 degrees, and the camera ofthe left side view apparatus may have a pitch of about −10 degrees.

Example 2 —Radar and Lidar Fields of View

In another example, the sensor system for an autonomous vehiclecomprises a left side view apparatus comprising a radar and a lidar, anda right side view apparatus comprising a radar and a lidar. The radarsand lidars on the left and right side view apparatus enable a 360 degreefield of view with a diameter of about 200 meters.

Only exemplary and representative embodiments are described herein andonly but a few examples of its versatility are shown and described inthe present disclosure. It is to be understood that the presentinvention is capable of use in various other combinations andenvironments and is capable of changes or modifications within the scopeof the inventive concept as expressed herein.

Although the foregoing description is directed to the preferredembodiments, it is noted that other variations and modifications will beapparent to those skilled in the art, and may be made without departingfrom the spirit or scope of the invention. Moreover, features describedin connection with one embodiment may be used in conjunction with otherembodiments, even if not explicitly stated above.

1-29. (canceled)
 30. An autonomous vehicle comprising: a trailer; a cabconfigured to couple to the trailer and operate autonomously; and asensor assembly configured to navigate the cab, the sensor assemblyhaving: a housing configured to be coupled to a first side of theautonomous vehicle; a lidar coupled to the housing; and an armconfigured to extend the lidar laterally away from the first side of theautonomous vehicle, wherein the lidar has a field of view of at least180 degrees such that at least a portion of the first side of theautonomous vehicle is within the field of view of the lidar.
 31. Theautonomous vehicle of claim 30, wherein the housing is coupled to anA-pillar of the cab.
 32. The autonomous vehicle of claim 30, wherein thefirst side is a driver's side of the cab or a passenger's side of thecab.
 33. The autonomous vehicle of claim 30, wherein the at least aportion of the first side includes at least a portion of a first side ofthe cab and at least a portion of a first side of the trailer.
 34. Theautonomous vehicle of claim 30, further comprising a second sensorassembly having a second lidar coupled to a second housing, wherein thesecond sensor assembly is coupled to a second side of the autonomousvehicle, and wherein the second lidar has a field of view of at least180 degrees such that at least a portion of the second side of theautonomous vehicle is within the field of view of the lidar.
 35. Theautonomous vehicle of claim 34, wherein the at least a portion of thesecond side includes at least a portion of a second side of the cab andat least a portion of a second side of the trailer.
 36. The autonomousvehicle of claim 34, wherein the first side is a driver's side and thesecond side is a passenger's side.
 37. The autonomous vehicle of claim34, wherein, together, the lidar and the second lidar provide a 360degree field of view with a diameter of about 200 meters around theautonomous vehicle, wherein the second side is on an opposing andsubstantially parallel side of the autonomous vehicle from the firstside.
 38. The autonomous vehicle of claim 30, wherein the lidar is arear view lidar.
 39. The autonomous vehicle of claim 30, wherein thehousing comprises a second lidar coupled to the housing, the lidar andthe second lidar together providing a field of view of at least 180degrees.
 40. A sensor assembly for an autonomous vehicle, comprising: ahousing configured to be coupled to a first side of the autonomousvehicle; and a lidar coupled to the housing, wherein the lidar has afield of view of at least 180 degrees such that the first side of theautonomous vehicle is within the field of view of the lidar.
 41. Thesensor assembly of claim 40, wherein the lidar is configured to detectan object within a radius of 75 meters.
 42. The sensor assembly of claim40, wherein the lidar is a rear view lidar.
 43. The sensor assembly ofclaim 42, further comprising a front view lidar and a side view lidar,each coupled to the housing.
 44. The sensor assembly of claim 40,wherein the lidar comprises a rear view lidar and a front view lidar.45. The sensor assembly of claim 40, wherein the lidar is coupled to alower portion of the housing.
 46. The sensor assembly of claim 40,further comprising an arm having a proximal end and a distal end,wherein the distal end is coupled to the housing and the proximal end isconfigured to be coupled to the first side, and wherein the lidar isbetween 50 mm and 650 mm from the proximal end.
 47. The sensor assemblyof claim 46, wherein the lidar extends a predetermined vertical distancebelow the arm.
 48. The sensor assembly of claim 40, wherein the housingcomprises a second lidar coupled to the housing, the lidar and thesecond lidar together providing a field of view of at least 180 degrees.49. The sensor assembly of claim 40, further comprising one or morecameras coupled to the housing.
 50. The sensor assembly of claim 49,wherein at least one camera of the one or more cameras are coupled to anupper portion of the housing.
 51. The sensor assembly of claim 49,wherein at least one camera of the one or more cameras is coupled to anopposing surface from the lidar.
 52. The sensor assembly of claim 49,wherein the one or more cameras comprises at least two cameras coupledto the housing such that the at least two cameras having a portion ofeach field of view in opposing directions.
 53. The sensor assembly ofclaim 52, further comprising one or more radars or a thermal camera. 54.The sensor assembly of claim 53, wherein the lidar comprises two or morelidars or the one or more radars comprises two or more radars.
 55. Thesensor assembly of claim 49, wherein the one or more cameras comprisesat least two cameras coupled to the housing such that the at least twocameras having a portion of each field of view in substantiallyperpendicular directions.
 56. The sensor assembly of claim 55, furthercomprising one or more radars or a thermal camera.
 57. The sensorassembly of claim 56, wherein the lidar comprises two or more lidars orthe one or more radars comprises two or more radars.
 58. The sensorassembly of claim 40, further comprising one or more radars.
 59. Thesensor assembly of claim 58, wherein the lidar comprises two or morelidars or the one or more radars comprises two or more radars.
 60. Thesensor assembly of claim 59, further comprising one or more cameras. 61.The sensor assembly of claim 60, wherein the one or more camerascomprises at least two cameras coupled to the housing such that the atleast two cameras having a portion of each field of view in opposingdirections.
 62. The sensor assembly of claim 60, wherein the one or morecameras comprises at least two cameras coupled to the housing such thatthe at least two cameras having a portion of each field of view insubstantially perpendicular directions.
 63. The sensor assembly of claim40, further comprising one or more radars, a thermal camera, a firstcamera having a field of view including a direction opposite of adirection of travel, a second camera having a field of view includingthe direction of travel, a third camera having a field of view includinga direction perpendicular to the direction of travel.
 64. The sensorassembly of claim 63, wherein the second camera is a wide field of viewcamera.
 65. The sensor assembly of claim 63, wherein the second camerais a narrow field of view camera.
 66. The sensor assembly of claim 63,wherein the lidar comprises two or more lidars or the one or more radarscomprises two or more radars.